
#ifndef __AHRS_UPDATE_H__
#define __AHRS_UPDATE_H__

#include "ucos_ii.h"
#include "stm32f10x_lib.h"
#include "typedefs.h"

#define M_PI 3.1415926



extern OS_EVENT *AhrsUpdateBox;

extern Vectorf Acce, Magn, Gyro, RGyro;

extern EulerAnglef Attitude_Offset;
extern EulerAnglef Attitude;

#define AHRS_UPDATE_TIME 5    //ms



#endif
